CANopen Manager / Slave Manual - esd electronics, Inc.

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CANopen Manager Page 30 of 47 If the transfer size of the buffer is less than 5 bytes the expedited SDO transfer mode instead of the segmented SDO transfer mode is used. In addition the parameter type can be logically or’d with TYP_INICATE_SIZE or TYP_INDICATE_NO_SIZE to determine that the data transfer size is indicated to the SDO server during initialization of the SDO transfer or not. The default behaviour is length indication for expedited transfer and no length indication for segmented transfer. If the remote node given by modId is managed by the master the internal SDO handle is used for SDO transfer otherwise a new handle is opened for this operation and closed afterwards. The receive and transmit timeout for the internal handle can be configured individually for each node with the parameters SDO_TX_TIMEOUT and SDO_RX_TIMEOUT in the master configuration file (see page ?). The default RX/TX timeout for nodes not managed by the master is 2000 ms. If the function returned with the error code MCAL_ABORT_DOMAIN the following structure that has to be provided by the caller with the parameter error which is used to return the abort codes defined in DS-301. typedef struct{ unsigned char eclass; unsigned char code; unsigned char spec; unsigned char global; } ERROR_T; Return: Success or an error code listed in the appendix. Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Manager
mcanOpenNodeControl() CANopen Manager Name: mcanOpenNodeControl() - Requesting the control over a remote node Call: int mcanOpenNodeControl ( int net, int nodeID, long flags ); Description: Obsolete function, present for API backward compatibility. Return: Always success. CANopen Manager Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 31 of 47
Page 1 and 2: CANopen Manager CANopen Manager Sof
Page 3 and 4: Manual File: Date of Print: 2008-06
Page 5 and 6: 1. Reference CANopen Manager /1/: C
Page 7 and 8: 2.3 Features of the CANopen manager
Page 9 and 10: 3.2.2 Element description CANopen M
Page 11 and 12: Boot_Time Optional USHORT 0x1F89 10
Page 13 and 14: Preset_Emergency_Consumer Optional
Page 15 and 16: 3.2.4 Elements of Node_Id Madatory
Page 17 and 18: Device_Type_Identification Optional
Page 19 and 20: NMT_Reset_Node Optional BOOL TRUE,
Page 21 and 22: 4. Manager API 4.1 Overview The API
Page 23 and 24: mcanOpenConfig() Name: mcanOpenConf
Page 25 and 26: 4.3 Optional node control functions
Page 27 and 28: mcanOpenGetNodeState() CANopen Mana
Page 29: mcanOpenWriteSDO() Name: mcanOpenWr
Page 33 and 34: mcanOpenStopNode() Name: mcanOpenSt
Page 35 and 36: 6. Appendix 6.1 Error Codes CANopen
Page 37 and 38: MCAL_CAN_CONTR_OFF_BUS Error in CAN
Page 39 and 40: CANOPEN_DCF_WRONG_NODE_ID Error dur
Page 41 and 42: CANOPEN_DCF_OUT_OF_LIMITS Error dur
Page 43 and 44: Severity Error MCAL_NO_NET Net numb
Page 45 and 46: MCAL_TOGGLE_ERROR Protocol error Se
Page 47 and 48: MCAL_NODE_NOT_FREE Getting node con
Page 49 and 50: Page 2 of 65 N O T E The informatio
Page 51 and 52: Contents Page 1. Reference ........
Page 53 and 54: CANopen-Slave 1. Reference /1/: CiA
Page 55 and 56: CANopen-Slave 3. CANopen Slave Base
Page 57 and 58: CANopen-Slave canOpenCreateNetwork
Page 59 and 60: CANopen-Slave 3.5 Synchronization (
Page 61 and 62: CANopen-Slave The Sticky Bits indic
Page 63 and 64: CANopen-Slave Page 16 of 65 followi
Page 65 and 66: CANopen-Slave Page 18 of 65 DevType
Page 67 and 68: CANopen-Slave Page 20 of 65 canOpen
Page 69 and 70: CANopen-Slave Page 22 of 65 ucMaxEr
Page 71 and 72: CANopen-Slave Page 24 of 65 ucError
Page 75 and 76: CANopen-Slave 4.2 Local Object Dire
Page 79 and 80: CANopen-Slave Page 32 of 65 these v
Page 81 and 82:
CANopen-Slave Page 34 of 65 canOpen
Page 83 and 84:
CANopen-Slave 4.3 PDO Services Foll
Page 85 and 86:
CANopen-Slave Page 38 of 65 A value
Page 87 and 88:
CANopen-Slave 4.4 Error Situations
Page 89 and 90:
CANopen-Slave The Sticky Bits indic
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
CANopen-Slave 4.6 Event handler The
Page 97 and 98:
CANopen-Slave ulEvent ulArg1 ulArg2
Page 99 and 100:
CANopen-Slave DICTIONARY_ENTRY(Inde
Page 101 and 102:
CANopen-Slave PDO Tables The follow
Page 103 and 104:
CANopen-Slave The following example
Page 105 and 106:
CANopen-Slave SCANOPEN_WRONG_SUBIND
Page 107 and 108:
CANopen-Slave SCANOPEN_VALUE_TOO_LO
Page 109 and 110:
CANopen-Slave SCANOPEN_TOO_MANY_OBJ
Page 111 and 112:
CANopen-Slave SCANOPEN_INVALID_HAND
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